CN115045482A - Flexible slip table and robot - Google Patents
Flexible slip table and robot Download PDFInfo
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- CN115045482A CN115045482A CN202110258521.7A CN202110258521A CN115045482A CN 115045482 A CN115045482 A CN 115045482A CN 202110258521 A CN202110258521 A CN 202110258521A CN 115045482 A CN115045482 A CN 115045482A
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- 238000010276 construction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 13
- 230000005484 gravity Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000004570 mortar (masonry) Substances 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
Abstract
The invention relates to the technical field of construction machinery and discloses a telescopic sliding table and a robot. Flexible slip table includes load-bearing base, work slip table and reverse slip table, and work slip table and load-bearing base swing joint can stretch out load-bearing base along predetermineeing the direction, and reverse slip table and load-bearing base swing joint can stretch out load-bearing base along the direction of motion opposite with work slip table. When the working sliding table extends out of the bearing base, the reverse sliding table extends out of the bearing base along the opposite direction, on one hand, the two sides of the bearing base can be stressed in a balanced manner, and the requirement on extra rigidity of the bearing base is avoided; on the other hand, can guarantee that the whole focus position of flexible slip table keeps unchangeable to guarantee that bearing base supports stably, guarantee the accuracy that work slip table stretches out the direction, guarantee the operation precision. The robot can realize the floating action of a large stroke by arranging the telescopic sliding table, and is stable in integral support, balanced in stress and high in floating precision.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a telescopic sliding table and a robot.
Background
Indoor accurate flattening requires very high to the ground roughness, and the manual work hardly reaches the requirement, has consequently appeared on the market that a lot of equipment that are used for concrete, mortar ground flattening are used for replacing the manual work, efficient and high quality. The relatively better evener of flattening effect is flexible arm-type evener on the market at present, and this evener has bearing base, flexible track and actuating mechanism, and flexible track setting is on bearing base, and actuating mechanism sets up in flexible orbital one end, and flexible track drives actuating mechanism and stretches out and back and scrape in order to accomplish the flattening operation. However, when the telescopic rail extends far relative to the bearing base, the gravity center of the whole leveling machine is changed, so that the bearing base cannot be stably supported, and the output direction of the telescopic rail is easy to deviate, so that the leveling precision is affected; on the other hand, the bearing base is subjected to the unidirectional force of the telescopic rail, so that the bearing base is easy to deform locally, and the rigidity cannot meet the requirement, so that the leveling machine has great limitation on the maximum extending distance.
Therefore, it is desirable to provide a telescopic sliding table robot to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a telescopic sliding table, which has the advantages of small change of the position of the integral gravity center, stable support, balanced stress of a bearing base and good rigidity when the working sliding table extends out for a large stroke for operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a flexible slip table, includes bearing base, work slip table and reverse slip table, wherein, the work slip table with bearing base swing joint can stretch out along predetermineeing the direction bearing base, reverse slip table with bearing base swing joint can be followed with the opposite direction of motion of work slip table stretches out bearing base.
According to the telescopic sliding table disclosed by the invention, when the working sliding table extends out of the bearing base to operate, the reverse sliding table extends out of the bearing base along the opposite direction, so that when the working sliding table extends out of a larger stroke, on one hand, the two sides of the bearing base are stressed in balance, and the telescopic sliding table cannot deform due to the stress of only one side, so that the extra rigidity requirement on the bearing base is avoided; on the other hand, can guarantee that the whole focus position of flexible slip table keeps unchangeable to guarantee that the bearing base supports stably, avoid bearing base to take place to incline, guarantee the accuracy that the work slip table stretches out the direction, guarantee the operation precision.
As an optional scheme, the telescopic sliding table further comprises a driving assembly, a first transmission assembly and a second transmission assembly, the driving assembly is arranged on the bearing base, the first transmission assembly is arranged on the bearing base, the driving assembly can drive the first transmission assembly to move, and the working sliding table is connected with an output end of the first transmission assembly; the second transmission assembly is arranged on the bearing base, the driving assembly can synchronously drive the second transmission assembly to move, the reverse sliding table is connected with the output end of the first transmission assembly, and the movement directions of the first transmission assembly and the second transmission assembly are opposite. The work sliding table and the reverse sliding table are connected with the same driving assembly through the first transmission assembly and the second transmission assembly respectively, so that the work sliding table and the reverse sliding table move synchronously, and the telescopic sliding table is guaranteed to keep the gravity center position unchanged at all times in the whole process of movement of the work sliding table.
As an optional scheme, the first transmission assembly includes a first driving wheel, a first driven wheel and a first flexible component, the first driving wheel is connected with the output end of the driving assembly, the first driven wheel is rotatably disposed on the bearing base, the first flexible component is wound around the first driving wheel and the first driven wheel, and the working sliding table is connected with the straight-line segment of the first flexible component. Through the cooperation of first action wheel, first follow driving wheel and first flexure piece, realize transmitting drive assembly's motion to the motion of work slip table along the default direction, simple structure, connection convenience.
As an optional scheme, the second transmission assembly includes a second driving wheel, a second driven wheel and a second flexible member, wherein the second driving wheel is in transmission connection with the output end of the driving assembly, the second driven wheel is rotatably disposed on the bearing base, the second flexible member is wound around the second driving wheel and the second driven wheel, and the reverse sliding table is connected with a linear section of the second flexible member. Through the cooperation of second action wheel, second from driving wheel and second flexure, realize transmitting drive assembly's motion to reverse slip table along the motion of predetermineeing the direction, simple structure, connection convenience.
As an optional scheme, the second transmission subassembly includes transmission shaft, first drive wheel, second drive wheel and third flexure, and the transmission shaft rotationally sets up bear on the base, the second action wheel connect in the one end of transmission shaft, first drive wheel with drive assembly's output is connected, the second drive wheel sets up the other end of transmission shaft, the third flexure is around locating first drive wheel with the second drive wheel, the third flexure is along the perpendicular to reverse slip table place planar direction extends. Through setting up transmission shaft, first drive wheel, second drive wheel and third flexure, stagger the output of second drive assembly and the output of first drive assembly along upper and lower direction to make work slip table and reverse slip table be in the position of one on the other when being located the state of withdrawing, make flexible slip table along the structure of predetermineeing the direction compacter.
As an optional scheme, the work slip table includes that the upper strata stretches out the slip table and the lower floor stretches out the slip table, the lower floor stretch out the slip table with bear base sliding fit, and with first drive assembly's output is connected, the upper strata stretch out the slip table with the lower floor stretches out slip table sliding fit, and with the lower floor stretches out the slip table transmission connection. The cooperation of upper work slip table and lower floor's work slip table, under the unchangeable condition of state size is withdrawed to flexible slip table, can stretch out farther stroke, improves the operation scope of flexible slip table.
As an optional scheme, flexible slip table still includes third drive wheel, first non-closed loop flexure, fourth drive wheel and second non-closed loop flexure, the third drive wheel rotationally sets up the lower floor stretches out the slip table edge the one end of predetermineeing the direction, first non-closed loop flexure is around locating the third drive wheel, and one end with bear the weight of the pedestal connection, the other end with the upper strata stretches out the slip table connection, the fourth drive wheel rotationally sets up the lower floor stretches out the slip table edge predetermine the other end of establishing the direction, second non-closed loop flexure is around locating the fourth drive wheel, and one end with bear the weight of the pedestal connection, the other end with the upper strata stretches out the slip table connection. The first non-closed loop flexible part and the third driving wheel are matched to realize linkage of the working sliding table in the extending process, so that driving sources are reduced, and the extending efficiency is improved; the second non-closed loop flexible part and the fourth driving wheel are matched to realize linkage of the working sliding table in the retracting process, so that driving sources are reduced, and the retracting efficiency is improved.
As an optional scheme, the bearing base is of an "H" type structure, the working sliding table is slidably connected to the upper side of the bearing base, and the reverse sliding table is slidably connected to the lower side of the bearing base. The bearing base structure of the H-shaped structure has light weight, good rigidity and stability.
As an optional scheme, the telescopic sliding table further comprises a plurality of counter weights with different weights, and the reverse sliding table can be selectively connected with different counter weights. When the execution structure of different weight is born to the weight of on the work slip table, through the balancing weight of changing different weight, can make reverse slip table stretch out the back and work slip table is balanced to guarantee that focus position is unchangeable, improved the application scope of flexible slip table.
The second purpose of the invention is to provide a robot, wherein the work sliding table can extend out of a long working stroke, and the center of gravity can be kept stable and the structure is firm.
The robot comprises a scraping assembly and a telescopic sliding table, wherein the scraping assembly is connected with the working sliding table. The robot is through setting up foretell flexible slip table, and can realize the floating action of great stroke, and whole support is steady, the atress is balanced, floating precision is high.
The invention has the beneficial effects that:
according to the telescopic sliding table disclosed by the invention, when the working sliding table extends out of the bearing base to operate, the reverse sliding table extends out of the bearing base along the opposite direction, so that when the working sliding table extends out of a larger stroke, on one hand, the two sides of the bearing base are stressed in balance, and the telescopic sliding table cannot deform due to the stress of only one side, so that the extra rigidity requirement on the bearing base is avoided; on the other hand, can guarantee that the whole focus position of flexible slip table keeps unchangeable to guarantee that the bearing base supports stably, avoid bearing base to take place the slope, guarantee the accuracy of work slip table direction of stretching out, guarantee the operation precision.
The robot can realize the floating action with larger stroke by arranging the telescopic sliding table, and has stable integral support, balanced stress and high floating precision.
Drawings
Fig. 1 is a schematic structural view of a retracting state of a telescopic sliding table according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an extended state of the retractable sliding table according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a bearing base of the telescopic sliding table according to the embodiment of the present invention;
FIG. 4 is a schematic structural view of a second transmission assembly of the telescopic ramp according to the embodiment of the present invention;
fig. 5 is a schematic structural view of a reverse sliding table of the telescopic sliding table according to the embodiment of the present invention;
fig. 6 is a schematic structural view of an upper layer extension sliding table of the telescopic sliding table provided in the embodiment of the present invention;
fig. 7 is a schematic structural view of a lower extension sliding table of the telescopic sliding table according to the embodiment of the present invention.
In the figure:
1-a load-bearing base; 11-a third fixed seat; 12-a fifth fixed seat; 13-a first linear guide; 14-a second linear guide; 15-a first bearing seat; 16-a second bearing block; 17-a third bearing seat;
2-a working sliding table; 21-lower layer extending out of the sliding table; 211-a first fixed seat; 212-a third linear guide; 213-a first slider; 22-upper layer extension sliding table; 221-a fourth fixed seat; 222-a sixth fixed seat; 223-a third slider;
3-reverse sliding table; 31-a second slider; 32-a second fixed seat;
4-a drive assembly;
5-a first transmission assembly; 51-a first capstan; 52-a first driven wheel; 53-a first flexure;
6-a second transmission assembly; 61-a second drive wheel; 62-a second driven wheel; 63-a second flexure; 64-a first drive wheel; 65-a third flexure; 66-a second transmission wheel;
71-a third transmission wheel; 72-a first non-closed loop flexure; 73-a fourth transmission wheel; 74-a second non-closed loop flexure;
8-a balancing weight;
91-a position sensor; 92-sensing piece.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
This embodiment provides a flexible slip table and robot, the robot includes flexible slip table and actuating mechanism, and flexible slip table can drive actuating mechanism along predetermineeing direction reciprocating motion. The robot is evener in this embodiment, and the evener is including flexible slip table and strickle off the subassembly, and flexible slip table can drive to strickle off the subassembly along predetermineeing direction reciprocating motion to strickle off subaerial mortar, concrete etc.. In other embodiments, the robot may also be other equipment that needs to output reciprocating motion in the horizontal direction, such as a mortar leveling machine or a horizontal feeding machine. As shown in fig. 1 and 2, the direction X is a predetermined direction, the direction Y is a direction perpendicular to the direction X in the plane of the retractable sliding table, and the direction Z is a direction perpendicular to the plane of the retractable sliding table. Specifically, flexible slip table is including bearing base 1, work slip table 2 and reverse slip table 3, and wherein, work slip table 2 with bear 1 swing joint of base and can stretch out bearing base 1 along the predetermined direction, reverse slip table 3 with bear 1 swing joint of base and can stretch out bearing base 1 along the direction of motion opposite with work slip table 2.
According to the telescopic sliding table disclosed by the embodiment, when the working sliding table 2 extends out of the bearing base 1 to operate, the reverse sliding table 3 extends out of the bearing base 1 along the opposite direction, and when the working sliding table 2 extends out of a larger stroke, on one hand, the stress on two sides of the bearing base 1 can be balanced, and the bearing base 1 cannot deform due to the stress on only one side, so that the extra rigidity requirement on the bearing base 1 is avoided; on the other hand, can guarantee that the whole focus position of flexible slip table keeps unchangeable to guarantee that load base 1 supports stably, avoid load base 1 to take place the slope, guarantee the accuracy of work slip table 2 direction of stretching out, guarantee the operation precision. The robot of this embodiment through setting up foretell flexible slip table, can realize the floating action of great stroke, and floating in-process, whole support steadily, the stress balance, floating the precision height.
Specifically, in this embodiment, the preset direction (i.e., the X direction) is a horizontal direction, the Y direction is a direction perpendicular to the X direction within a horizontal plane, and the Z direction is a vertical direction. The strickle component is arranged on the work slipway 2 and moves along the horizontal preset direction along with the extending and withdrawing actions of the work slipway 2, thereby realizing the strickle operation on the horizontal ground. Of course, in other embodiments, if the surface to be scraped off is an inclined surface, the predetermined direction is only ensured to be parallel to the inclined surface, and is not limited herein.
Preferably, as shown in fig. 1, the carrying base 1 is in an "H" shape, the working sliding table 2 is slidably connected to the upper side of the carrying base 1, and the reverse sliding table 3 is slidably connected to the lower side of the carrying base 1. The bearing base 1 with the H-shaped structure has light weight, good rigidity and stability. In this embodiment, when working sliding table 2 and reverse sliding table 3 are in the retracted state, they are respectively accommodated in the upper-side "u" shaped space and the lower-layer "u" shaped space of bearing base 1, so that the whole telescopic sliding table is more compact in the vertical direction.
Preferably, the telescopic sliding table further comprises a plurality of counter weights 8 with different weights, and the reverse sliding table 3 can be selectively connected with different counter weights 8. When the last executive structure who bears different weight of work slip table 2, through the balancing weight 8 of changing different weight, can make reverse slip table 3 reverse stretch out the back balanced with work slip table 2 to guarantee that the focus position is unchangeable, improved the application scope of flexible slip table.
Preferably, as shown in fig. 2-4, the telescopic sliding table further includes a driving assembly 4, a first transmission assembly 5 and a second transmission assembly 6, the driving assembly 4 is disposed on the bearing base 1, the first transmission assembly 5 is disposed on the bearing base 1, the driving assembly 4 can drive the first transmission assembly 5 to move, the working sliding table 2 is connected with an output end of the first transmission assembly 5, the second transmission assembly 6 is disposed on the bearing base 1, the driving assembly 4 can synchronously drive the second transmission assembly 6 to move, the reverse sliding table 3 is connected with an output end of the first transmission assembly 5, and moving directions of output ends of the first transmission assembly 5 and the second transmission assembly 6 are opposite. The work sliding table 2 and the reverse sliding table 3 are connected with the same driving assembly 4 through the first driving assembly 5 and the second driving assembly 6 respectively, so that the work sliding table 2 and the reverse sliding table 3 are moved synchronously in a mechanical transmission mode, the telescopic sliding table is guaranteed to keep the gravity center position unchanged all the time in the whole process of movement of the work sliding table 2, and the structure is good in reliability and low in cost. Particularly, in this embodiment, drive assembly 4 includes servo motor, and servo motor sets up on bearing base 1, and the input of first drive assembly 5 and the input of second drive assembly 6 all are connected with servo motor's output to can correspond the linear motion who turns into servo motor's rotary motion along predetermineeing the direction.
Certainly, in other embodiments, flexible slip table also can set up two driving sources, and one of them driving source is used for driving the motion of work slip table 2, and the reverse slip table 3 of another driving source drive moves to through setting up control assembly, guarantee that the volume of stretching out of reverse slip table 3 just can balance work slip table 2 and stretch out the influence to whole focus, guarantee the stability of flexible slip table focus.
Preferably, as shown in fig. 2 and 3, the first transmission assembly 5 includes a first driving wheel 51, a first driven wheel 52 and a first flexible member 53, the first driving wheel 51 is connected with the output end of the driving assembly 4, the first driven wheel 52 is rotatably disposed on the bearing base 1, the first flexible member 53 is wound around the first driving wheel 51 and the first driven wheel 52, and the work slide 2 is connected with a straight line segment of the first flexible member 53. Through the cooperation of first driving wheel 51, first driven wheel 52 and first flexible piece 53, realize transmitting the motion of drive assembly 4 to the motion of work slip table 2 along the default direction, simple structure, connection convenience.
Specifically, in this embodiment, as shown in fig. 2, 3, and 6, the first driving wheel 51 and the second driven wheel 62 are both belt wheels, the first flexible component 53 is a belt, the servomotor is disposed at one end of the upper surface of the bearing base 1 along the X direction, the output shaft extends along the Y direction, the first driven wheel 52 is rotatably supported at the other end of the upper surface of the bearing base 1 along the X direction through the first bearing seat 15, so that the first flexible component 53 extends along the X direction, the lower surface of the working sliding table 2 is provided with a first fixed seat 211, the first fixed seat 211 is connected to a straight line segment of the upper layer of the first flexible component 53, and when the servomotor drives the first flexible component 53 to rotate, the first flexible component 53 drives the working sliding table 2 to linearly move along the preset direction.
Of course, in other embodiments, the first driving wheel 51 and the second driving wheel 61 may also be sprockets, and the first flexible component 53 is a chain, and the specific arrangement position and transmission process thereof are consistent with the manner of a pulley and a belt, which are not described herein again.
Preferably, as shown in fig. 2 and 4, the second transmission assembly 6 includes a second driving wheel 61, a second driven wheel 62 and a second flexible member 63, wherein the second driving wheel 61 is in transmission connection with the output end of the driving assembly 4, the second driven wheel 62 is rotatably disposed on the carrying base 1, the second flexible member 63 is wound around the second driving wheel 61 and the second driven wheel 62, and the reverse sliding table 3 is connected with a straight line section of the second flexible member 63. Through the cooperation of second action wheel 61, second from driving wheel 62 and second flexible piece 63, realize transmitting the motion of drive assembly 4 to the motion of reverse slip table 3 along the default direction, simple structure, connection convenience.
Specifically, in this embodiment, as shown in fig. 2, 4 and 5, the second driving wheel 61 and the second driven wheel 62 are both belt wheels, the second flexible member 63 is a belt, the second driving wheel 61 is rotatably supported on one end of the lower surface of the bearing base 1 close to the driving assembly 4 along the X direction by the second bearing seat 16, the second driven wheel 62 is rotatably supported on one end of the lower surface of the bearing base 1 far from the driving assembly 4 along the X direction by the third bearing seat 17, so that the second flexible member 63 extends along the X direction, the second fixed seat 32 is disposed on the upper surface of the reverse sliding table 3, the second fixed seat 32 is connected to a linear segment of the second flexible member 63 located at a lower layer, and in a process of the servo motor driving the second flexible member 63 to rotate, the second flexible member 63 drives the reverse sliding table 3 to make a linear motion along a preset direction.
Of course, in other embodiments, the second driving wheel 61 and the second driving wheel 61 may also be sprockets, and the second flexible member 63 is a chain, and the specific connection position and transmission process thereof are consistent with the manner of a pulley and a belt, and will not be described herein again.
Further, as shown in fig. 2 and 4, the second transmission assembly 6 further includes a transmission shaft, a first transmission wheel 64, a second transmission wheel 66 and a third flexible member 65, the transmission shaft is rotatably disposed on the bearing base 1, the second driving wheel 61 is connected to one end of the transmission shaft, the first transmission wheel 64 is connected to the output end of the driving assembly 4, the second transmission wheel 66 is disposed at the other end of the transmission shaft, the third flexible member 65 is wound around the first transmission wheel 64 and the second transmission wheel 66, and the third flexible member 65 extends in a direction perpendicular to the plane of the reverse sliding table 3. Through setting up transmission shaft, first drive wheel 64, second drive wheel 66 and third flexure 65, stagger the output of second drive assembly 6 and the output of first drive assembly 5 along upper and lower direction to make work slip table 2 and reverse slip table 3 be in the position of one on the other when being located the state of withdrawing, make the structure of flexible slip table along predetermineeing the direction compacter. Specifically, in this embodiment, the first transmission wheel 64 and the second transmission wheel 66 are both belt wheels, the third flexible member 65 is a belt, the belt extends along a vertical direction, and the transmission shaft is fixedly connected with the inner ring of the second bearing seat 16, so as to achieve a rotating fit with the bearing base 1. Of course, in other embodiments, the first and second drive wheels 64, 66 may be sprockets and correspondingly the third flexible member 65 a chain.
Preferably, in order to ensure that the working sliding table 2 supports stably and moves with high precision in the process of extending out of the bearing base 1 along the preset direction, as shown in fig. 2 and fig. 6, the telescopic sliding table further comprises a first linear guide rail 13 and a first sliding block 213, the first linear guide rail 13 is arranged on the upper side of the bearing base 1 and extends along the preset direction, the first sliding block 213 is arranged on the lower side of the working sliding table 2, and the first sliding block 213 is in sliding fit with the first linear guide rail 13. Further, flexible slip table includes two first linear guide rails 13, and two first linear guide rails 13 set up at the both ends that bear base 1 along Y to, and every first linear guide rail 13 is through two first sliders 213 and work slip table 2 sliding fit to can enough guarantee that work slip table 2 stretches out and withdraws the process smoothly, and can provide sufficient rigidity, guarantee work slip table 2's motion precision, and then guarantee the effect of floating.
Similarly, in order to ensure that the process that the reverse sliding table 3 extends out of the bearing base 1 along the preset direction is stable in support and high in movement precision, as shown in fig. 2 and 5, the telescopic sliding table further comprises a second linear guide rail 14 and a second sliding block 31, the second linear guide rail 14 is arranged on the lower side of the bearing base 1 and extends along the preset direction, the second sliding block 31 is arranged on the upper side of the reverse sliding table 3, and the second sliding block 31 is in sliding fit with the second linear guide rail 14. Furthermore, flexible slip table includes two second linear guide 14, and two second linear guide 14 settings are at the both ends of bearing base 1 along Y to, and every second linear guide 14 is through two second sliders 31 and reverse slip table 3 sliding fit to can enough guarantee that reverse slip table 3 stretches out and withdraws the process smooth and easy, and can provide sufficient rigidity, guarantee reverse slip table 3's motion precision.
Preferably, as shown in fig. 2, 6 and 7, the work sliding table 2 includes an upper layer extending sliding table 22 and a lower layer extending sliding table 21, the lower layer extending sliding table 21 is in sliding fit with the bearing base 1 and is connected with the output end of the first transmission assembly 5, and the upper layer extending sliding table 22 is in sliding fit with the lower layer extending sliding table 21 and is in transmission connection with the lower layer extending sliding table 21. The cooperation of upper work slip table 2 and lower floor's work slip table 2, under the unchangeable condition of state size is withdrawed to flexible slip table, can stretch out farther stroke, improves the operation scope of flexible slip table. Specifically, in the present embodiment, the first fixing seat 211 and the first sliding block 213 are both disposed on the lower surface of the lower working sliding table 2, and the driving assembly 4 can drive the lower extension sliding table 21 to move along the preset direction.
Further, as shown in fig. 2, 6 and 7, the telescopic sliding table further includes a third driving wheel 71, a first non-closed loop flexible member 72, a fourth driving wheel 73 and a second non-closed loop flexible member 74, the third driving wheel 71 is rotatably disposed at one end of the lower layer extension sliding table 21 along the predetermined direction, the first non-closed loop flexible member 72 is wound around the third driving wheel 71, and one end of the first non-closed loop flexible member is connected to the bearing base 1, and the other end of the first non-closed loop flexible member is connected to the upper layer extension sliding table 22. The first non-closed loop flexible part 72 and the third driving wheel 71 are matched to realize linkage of the working sliding table 2 in the extending process, driving sources are reduced, the first non-closed loop flexible part 72 and the third driving wheel 71 arranged on the lower extending sliding table 21 form a movable pulley model, when the lower extending sliding table 21 extends for a distance twice relative to the bearing base 1, the upper extending sliding table 22 extends for a distance twice relative to the bearing base 1 along the same direction, and the extending efficiency of the working sliding table 2 is improved.
Similarly, a fourth transmission wheel 73 is rotatably disposed at the other end of the lower extension sliding table 21 in the predetermined direction, and a second non-closed loop flexible member 74 is wound around the fourth transmission wheel 73, and has one end connected to the load-bearing base 1 and the other end connected to the upper extension sliding table 22. The second non-closed loop flexible part 74 and the fourth transmission wheel 73 are matched to realize linkage of the working sliding table 2 in the retracting process, driving sources are reduced, the second non-closed loop flexible part 74 and the fourth transmission wheel 73 arranged on the lower layer extending sliding table 21 form a movable pulley model, when the lower layer extending sliding table 21 retracts a distance twice relative to the bearing base 1, the upper layer extending sliding table 22 retracts a distance twice relative to the bearing base 1 along the same direction, and retracting efficiency of the working sliding table 2 is improved.
Specifically, in this embodiment, the third driving wheel 71 and the fourth driving wheel 73 are belt wheels, the first non-closed loop flexible part 72 and the second non-closed loop flexible part 74 are belts, the third fixing seat 11 is disposed at one end of the bearing base 1 close to the driving assembly 4 along the X direction, the fourth fixing seat 221 is disposed at one end of the upper layer extension sliding table 22 close to the driving assembly 4 along the X direction, and two ends of the first non-closed loop flexible part 72 are connected to the third fixing seat 11 and the fourth fixing seat 221 respectively, so as to connect the bearing base 1 and the upper layer extension sliding table 22. Further, the bearing base 1 is provided with a fifth fixing seat 12 along the X direction to the end far away from the driving assembly 4, the upper layer stretches out the sliding table 22 and is provided with a sixth fixing seat 222 along the X direction to the end far away from the driving assembly 4, and two ends of the second non-closed loop flexible component 74 are respectively connected with the fifth fixing seat 12 and the sixth fixing seat 222, so as to realize connection with the bearing base 1 and the upper layer stretching out the sliding table 22. Of course, in other embodiments, the third transmission wheel 71 and the fourth transmission wheel 73 may be both sprockets, and correspondingly, the first non-closed loop flexible element 72 and the second non-closed loop flexible element 74 are both chains.
Preferably, in order to ensure that the extending and retracting processes of the upper layer extending sliding table 22 are smooth and the direction is accurate, as shown in fig. 2, the telescopic sliding table further comprises a third linear guide rail 212 and a third sliding block 223, the third linear guide rail 212 is arranged on the upper side of the lower layer extending sliding table 21 and extends along the preset direction, the third sliding block 223 is arranged on the lower side of the upper layer extending sliding table 22, and the third sliding block 223 is in sliding fit with the third linear guide rail 212. Further, flexible slip table includes two third linear guide 212, and two third linear guide 212 settings stretch out slip table 21 in the lower floor along Y to both ends, and every third linear guide 212 stretches out slip table 22 sliding fit through two third sliders 223 and upper strata through to can enough guarantee that the upper strata stretches out the slip table 22 and stretches out and withdraw the process smoothly, and can provide sufficient rigidity, guarantee that the upper strata stretches out the motion accuracy of slip table 22, and then guarantee floating effect.
Preferably, the telescopic sliding table further comprises a position sensor 91 and a sensing sheet 92, one of the position sensor 91 and the sensing sheet 92 is arranged on the work sliding table 2, the other one of the position sensor 91 and the sensing sheet 92 is arranged on the bearing base 1, and the position sensor 91 can detect the extension displacement of the work sliding table 2. Specifically, in this embodiment, the position sensors 91 are plural and arranged on the bearing base 1 along a preset direction, the sensing piece 92 is disposed on the lower extending sliding table 21, and the position sensor 91 determines the extending distance of the working sliding table 2 by detecting the position of the sensing piece 92.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention and are not to be construed as limitations of the embodiments of the present invention, but may be modified in various embodiments and applications by those skilled in the art according to the spirit of the present invention, and the content of the present description should not be construed as a limitation of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A telescopic sliding table is characterized by comprising:
a load-bearing base;
the working sliding table is movably connected with the bearing base and can extend out of the bearing base along a preset direction;
and the reverse sliding table is movably connected with the bearing base and can extend out of the bearing base along the movement direction opposite to the movement direction of the working sliding table.
2. The telescopic slide of claim 1, further comprising:
the driving assembly is arranged on the bearing base;
the first transmission assembly is arranged on the bearing base, the driving assembly can drive the first transmission assembly to move, and the working sliding table is connected with the output end of the first transmission assembly;
the second transmission assembly is arranged on the bearing base, the driving assembly can synchronously drive the second transmission assembly to move, and the reverse sliding table is connected with the output end of the first transmission assembly;
the motion directions of the output ends of the first transmission assembly and the second transmission assembly are opposite.
3. The telescopic slide of claim 2, wherein the first drive assembly includes:
the first driving wheel is connected with the output end of the driving component;
the first driven wheel is rotatably arranged on the bearing base;
the first flexible part is wound on the first driving wheel and the first driven wheel, and the working sliding table is connected with the straight line section of the first flexible part.
4. The telescopic slide of claim 2, wherein the second drive assembly includes:
the second driving wheel is in transmission connection with the output end of the driving component;
the second driven wheel is rotatably arranged on the bearing base;
and the second flexible part is wound on the second driving wheel and the second driven wheel, and the reverse sliding table is connected with the straight section of the second flexible part.
5. The telescopic slide of claim 4, wherein the second drive assembly includes:
the transmission shaft is rotatably arranged on the bearing base, and the second driving wheel is connected to one end of the transmission shaft;
the first driving wheel is connected with the output end of the driving assembly;
the second transmission wheel is arranged at the other end of the transmission shaft;
and the third flexible part is wound on the first driving wheel and the second driving wheel and extends along the direction vertical to the plane of the reverse sliding table.
6. The telescopic slide of claim 2, wherein the work slide includes:
the lower layer extends out of the sliding table, is in sliding fit with the bearing base and is connected with the output end of the first transmission assembly;
the upper layer stretches out the slip table, with the lower layer stretches out slip table sliding fit, and with the lower layer stretches out the slip table transmission and is connected.
7. The telescopic slide of claim 6, further comprising:
the third driving wheel is rotatably arranged at one end of the lower layer extending out of the sliding table along the preset direction;
the first non-closed loop flexible part is wound on the third driving wheel, one end of the first non-closed loop flexible part is connected with the bearing base, and the other end of the first non-closed loop flexible part is connected with the upper layer extending sliding table;
the fourth driving wheel is rotatably arranged at the other end of the lower layer extending out of the sliding table along the preset direction; and
and the second non-closed loop flexible part is wound on the fourth driving wheel, one end of the second non-closed loop flexible part is connected with the bearing base, and the other end of the second non-closed loop flexible part is connected with the upper layer extending sliding table.
8. The telescopic slipway according to any one of claims 1 to 7, wherein the load-bearing base is in an "H" configuration, the working slipway is slidably connected to the upper side of the load-bearing base, and the reverse slipway is slidably connected to the lower side of the load-bearing base.
9. The telescopic slide of any one of claims 1-7, further including a plurality of counterweights of different weights, said reverse slide being selectively connectable to different ones of said counterweights.
10. A robot, characterized in that it comprises an actuator and a telescopic slide as claimed in any one of claims 1-9, said actuator being arranged on said work slide.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110258521.7A CN115045482A (en) | 2021-03-09 | 2021-03-09 | Flexible slip table and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110258521.7A CN115045482A (en) | 2021-03-09 | 2021-03-09 | Flexible slip table and robot |
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| CN115045482A true CN115045482A (en) | 2022-09-13 |
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| CN202110258521.7A Pending CN115045482A (en) | 2021-03-09 | 2021-03-09 | Flexible slip table and robot |
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| CN108190794A (en) * | 2018-03-01 | 2018-06-22 | 南京博蓝奇智能科技有限公司 | Lifting telescopic device and can variant lifting floor truck |
| CN108468769A (en) * | 2018-05-23 | 2018-08-31 | 凯迈（洛阳）测控有限公司 | A kind of linear transmission |
| CN111439567A (en) * | 2020-04-26 | 2020-07-24 | 珠海创智科技有限公司 | Telescopic lifting platform structure of material transportation robot and material transportation robot |
| CN111573558A (en) * | 2020-05-29 | 2020-08-25 | 燕山大学 | Self-balancing type large-operation-space lifting device |
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2021
- 2021-03-09 CN CN202110258521.7A patent/CN115045482A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642715A (en) * | 2011-02-21 | 2012-08-22 | 亚特控制系统股份有限公司 | Telescopic load-bearing device |
| CN207483296U (en) * | 2017-11-03 | 2018-06-12 | 江阴市绿松机械有限公司 | A kind of telescopic arm structure on aerial work platform |
| CN108190794A (en) * | 2018-03-01 | 2018-06-22 | 南京博蓝奇智能科技有限公司 | Lifting telescopic device and can variant lifting floor truck |
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